• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.2
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• pp.116-122
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• 2022

This study proposed a method of testing the stability when selecting gears to reduce the weight of a 3-DOF wrist mechanism for a pick-and-place 3-DOF parallel robot with an increased workspace by using an additional straight axis at its top. We performed SolidWorks^® modeling- and ANSYS^®-based structural analysis of a pinion gear, which is most vulnerable to the force from a 3-DOF wrist mechanism, to lighten the robot weight for performing various tasks. When the initial analysis results considerably differed from the theoretical values calculated in advance, we checked and identified the errors in the contact conditions or input values. Ultimately, it is believed that the methodology presented in this paper will help in mitigating errors during analysis and determine the accurate values for a lightweight 3-DOF wrist mechanism for a parallel robot with an expanded workspace.

• Industrial Engineering and Management Systems
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• v.4 no.2
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• pp.117-122
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• 2005

An assembly system (AS), a valuable tool for mass production, is generally composed of a number of workstations and a transport system. While the workstations perform some preplanned operations, the transport system moves the assemblies by special designed pallets from one station to another. One common problem associated with automatic assembly systems is that some assembly operations may have relatively long cycle times. As a consequence, the productivity, as determined by the operations with the longest cycle time, can be reduced significantly. Therefore, special forms of parallel workstations were developed to improve the performance of an assembly system. In this paper, three most commonly used parallel stations: on-line, off-line and tunnel-gated stations in a free transfer assembly system are studied via discrete event simulation. Our findings revealed that the off-line parallel system has the best performance because the two independent parallel stations can lower the buffer requirement; reduce the sensitivity to variability of processing time and balance of a line. On-line parallel systems were found to have a relatively poor performance, because the operations of two parallel stations block each other, and higher buffer capacity is required to achieve similar capacity. The tunnel-gated system was more efficient than the on-line system since the first parallel station can operate independently. More importantly, we have quantified the productivity of the three different strategies mentioned. Engineers can choose the optimal strategies for installing parallel stations under their working environment.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2008.10a
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• pp.90-93
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• 2008

In natural language, it is common that repetitive constituents in an expression are to be left out and it is necessary to figure out the constituents omitted at analyzing the meaning of the sentence. This paper is on recognition of boundaries of parallel noun phrases by figuring out constituents omitted. Recognition of parallel noun phrases can greatly reduce complexity at the phase of sentence parsing. Moreover, in natural language information retrieval, recognition of noun with modifiers can play an important role in making indexes. We propose an unsupervised probabilistic model that identifies parallel cores as well as boundaries of parallel noun phrases conjoined by a conjunctive particle. It is based on the idea of swapping constituents, utilizing symmetry (two or more identical constituents are repeated) and reversibility (the order of constituents is changeable) in parallel structure. Semantic features of the modifiers around parallel noun phrase, are also used the probabilistic swapping model. The model is language-independent and in this paper presented on parallel noun phrases in Korean language. Experiment shows that our probabilistic model outperforms symmetry-based model and supervised machine learning based approaches.

• Journal of Internet Computing and Services
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• v.2 no.4
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• pp.69-81
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• 2001

This paper describes a parallel programming environment to help programmer to write parallel programs. Parallel program must be write according to the character of the various hardware or program. So it is difficult for the programs to write the parallel programmer. In this paper, we propose and implement a parallel programming environment using graph type intermediate representation form, and graph user interface is provided for programmer to get parallel programs easily, This parallel environment supports special functions using graph type intermediate representation form. The special functions involve program editing. data dependence analysis, loop transformation. CFG, PDG, HTG. This parallel environment helps users make parallelism and optimization easy through showing the intermediate code with graph.

• International Journal of Aeronautical and Space Sciences
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• v.9 no.2
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• pp.79-86
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• 2008

High performance direct-iterative hybrid linear solver for large scale finite element problem is developed. Direct solution method is robust but difficult to parallelize, whereas iterative solution method is opposite for direct method. Therefore, combining two solution methods is desired to get both high performance parallel efficiency and numerical robustness for large scale structural analysis problems. Hybrid method mentioned in this paper is based on FETI-DP (Finite Element Tearing and Interconnecting-Dual Primal method) which has good parallel scalability and efficiency. It is suitable for fourth and second order finite element elliptic problems including structural analysis problems. We are using the hybrid concept of theses two solution method categories, combining the multifrontal solver into FETI-DP based iterative solver. Hybrid solver is implemented for our general structural analysis code, IPSAP.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.229-230
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.563-564
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.21-22
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.811-812
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• 2011

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1545-1548
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• 1997

A Force-refecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. This thesis presents the desgn and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The goal of this thesis is to construct a superior hand controller that can provide large workspace and good force-reflecting ability. The forward kinematics of the fivebar paprallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to comput the Jacobin. To analyze the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The force-reflecting hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.